Glider dive log

WA coast Sep08 * SG119 * Dive index * Mission links * Dive 10 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 119 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0

MISSION 5 HEADING -1 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 10 ESCAPE_HEADING 90 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 200 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3772 ALTIM_PING_DEPTH 125

D_TGT 990 TGT_DEFAULT_LAT 48.130001 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LON -122.366 C_ROLL_DIVE 2200 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2400 ALTIM_PULSE 3

D_FINISH 0 SM_CC 400 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 26 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 16 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 330 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 360 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 403 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3857 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2837 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -209917.72 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 27 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 50 XPDR_DEVICE 24

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 1 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 863 AH0_24V 147 SEABIRD_T_G 0.0044304794

SPEED_FACTOR 1 PITCH_MAX 3325 AH0_10V 122.2 SEABIRD_T_H 0.00064686994

RHO 1.023 C_PITCH 2800 PRESSURE_YINT -2.9385166 SEABIRD_T_I 2.8000688e-05

MASS 51528 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001159777 SEABIRD_T_J 3.1833417e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.8991232

FERRY_MAX 30 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.099651

KALMAN_USE 1 PITCH_GAIN 22 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012204468

HD_A 0.0038945 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_J 0.00018128238

HD_B 0.0099684997 PITCH_AD_RATE 125 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 125 SMARTDEVICE1 -1

AH0_10V 122.2 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 147 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 22 SM_CC 400

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3325 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 863 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 125 D_TGT 990 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 90 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001159777 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 30 PRESSURE_YINT -2.9385166 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 48.130001

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.366

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 330

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_GPS_CHARGE -209917.72

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 360

CF8_MAXERRORS 1 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 27

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 119 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3772 T_WATCHDOG 10

C_PITCH 2800 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 50

C_ROLL_CLIMB 2400 KALMAN_USE 1 ROLL_MIN 200 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2200 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2837 MASS 51528 R_PORT_OVSHOOT 26 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 16 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 5 SEABIRD_C_G -9.8991232 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.099651 VBD_DBAND 2

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0012204468 VBD_MAX 3857

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00018128238 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0044304794 VBD_MIN 403

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064686994 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.8000688e-05 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 10 PHONE_DEVICE 48 SEABIRD_T_J 3.1833417e-06 VBD_TIMEOUT 720

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_PITCH 0 XPDR_DEVICE 24

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SIM_W 0

Pre-dive calculations and measurements:

GPS1 171459,4701.803,-12511.111,42,2.8,61,18.4 TGT_NAME W_47N_128W

_CALLS 1 TGT_LATLONG 4700.000,-12800.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.245,-0.098

_SM_DEPTHo 0.97 KALMAN_X 5770.9,-325.8,-33.9,-21933.0,1564.1

_SM_ANGLEo -69.0 KALMAN_Y 7681.7,217.5,142.5,-1987.8,1888.6

GPS2 171938,4701.808,-12511.096,9,1.2,14,18.4 MHEAD_RNG_PITCHd_Wd 229.8,213362,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.1,1.023780 XPDR_PINGS 27

SM_CCo 19295,24.42,0.763,0,0,1206,400.08 _24V_AH 22.5,35.738

SM_GC 0.88,0.00,0.00,24.42,0.000,0.000,0.763,864,2191,1206,-8.91,-0.25,400.08 _10V_AH 10.6,22.810

IRIDIUM_FIX 4641.78,-12506.24,111297,111120 DATA_FILE_SIZE 34845,664

TT8_MAMPS 0.027612 CAP_FILE_SIZE 150609,0

HUMID 2149 CFSIZE 260165632,258588672

INTERNAL_PRESSURE 8.69174 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,25,0,0

TCM_TEMP 17.10 GPS 160908,224338,4702.474,-12514.542,31,1.5,31,18.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 150 100.46 SBE_CT 451 24 243.77

Roll_motor 200 147 665.75 SBE_O2 535 19 228.88

VBD_pump_during_apogee 430 1461 14154.56 WL_BB2F 735 105 1737.46

VBD_pump_during_surface 24 763 419.41 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 68.95 nil 0 0 0.00

Iridium_during_connect 24 160 89.96 nil 0 0 0.00

Iridium_during_xfer 124 223 627.14

Transponder_ping 16 420 151.20

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.45

TT8 1453 19 304.97

LPSleep 15097 2 350.46

TT8_Active 581 19 122.14

TT8_Sampling 2079 39 877.29

TT8_CF8 387 45 188.33

TT8_Kalman 33 81 28.92

Analog_circuits 1658 12 210.93

GPS_charging 0 0 0.00

Compass 2016 8 170.99

RAFOS 0 0 0.00

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

22 -1.00 -146.6 0.0 0.0 0 94 0.00 0.00 -70.70 0.000 2 0.000 0.000 861 2184 2889

97 -1.00 -146.6 3.9 -5.5 7 130 11.90 2.50 -10.55 0.000 4 0.150 0.094 2574 3608 3437

244 -0.77 -146.6 41.4 -17.5 20 251 0.32 2.30 0.00 0.000 6 0.095 0.063 2626 2201 3437

592 -0.77 -146.6 83.9 -10.4 79 596 0.00 2.40 0.00 0.000 4 0.000 0.089 2626 793 3438

632 -0.84 -146.6 88.0 -10.0 82 636 0.00 2.35 0.00 0.000 6 0.000 0.069 2626 2210 3438

958 -0.91 -146.6 119.7 -9.6 112 963 0.12 2.42 0.00 0.000 4 0.067 0.087 2599 795 3438

979 -0.91 -146.6 122.0 -9.9 113 986 0.00 2.35 0.00 0.000 6 0.000 0.071 2599 2196 3438

1314 -0.91 -146.6 159.3 -10.9 141 1315 0.00 0.00 0.00 0.000 6 0.000 0.000 2599 2196 3438

1622 -0.91 -146.6 193.0 -11.0 156 1623 0.00 0.00 0.00 0.000 6 0.000 0.000 2599 2196 3438

1931 -0.91 -146.6 228.8 -11.8 171 1932 0.00 0.00 0.00 0.000 6 0.000 0.000 2599 2196 3439

2240 -0.91 -146.6 262.3 -10.6 186 2244 0.00 2.40 0.00 0.000 4 0.000 0.092 2599 795 3438

2326 -0.91 -146.6 271.3 -10.3 190 2330 0.00 2.33 0.00 0.000 6 0.000 0.074 2599 2199 3438

2671 -0.91 -146.6 306.9 -9.9 205 2675 0.00 2.42 0.00 0.000 4 0.000 0.091 2599 784 3438

2716 -0.96 -146.6 311.4 -9.6 205 2720 0.00 2.35 0.00 0.000 6 0.000 0.074 2599 2203 3438

3030 -0.96 -146.6 341.4 -9.5 211 3034 0.00 2.42 0.00 0.000 4 0.000 0.093 2599 795 3438

3074 -1.02 -146.6 345.7 -9.6 211 3078 0.00 2.33 0.00 0.000 6 0.000 0.075 2599 2201 3438

3389 -1.02 -146.6 376.5 -10.0 217 3393 0.00 2.42 0.00 0.000 4 0.000 0.094 2599 794 3437

3451 -1.08 -146.6 382.8 -10.1 218 3456 0.20 2.35 0.00 0.000 6 0.061 0.077 2561 2207 3437

3817 -0.96 -146.6 428.4 -12.7 224 3822 0.15 2.45 0.00 0.000 4 0.105 0.094 2588 795 3437

3838 -0.90 -146.6 431.1 -11.7 224 3842 0.00 2.35 0.00 0.000 6 0.000 0.077 2588 2207 3436

4180 -0.90 -146.6 467.1 -10.5 230 4185 0.00 2.45 0.00 0.000 4 0.000 0.097 2588 796 3436

4207 -0.90 -146.6 470.3 -12.0 230 4211 0.00 2.38 0.00 0.000 6 0.000 0.077 2588 2199 3436

4545 -0.90 -146.6 507.7 -11.0 236 4549 0.00 2.45 0.00 0.000 4 0.000 0.099 2588 795 3436

4600 -0.90 -146.6 513.6 -9.9 236 4606 0.00 2.38 0.00 0.000 6 0.000 0.080 2588 2207 3435

4909 -0.90 -146.6 545.5 -10.4 242 4913 0.00 2.47 0.00 0.000 4 0.000 0.101 2588 797 3435

4929 -0.90 -146.6 547.9 -11.3 242 4933 0.00 2.40 0.00 0.000 6 0.000 0.081 2588 2219 3435

5274 -0.90 -146.6 582.5 -9.8 248 5278 0.00 2.53 0.00 0.000 4 0.000 0.103 2587 790 3435

5337 -0.94 -146.6 588.6 -9.0 249 5341 0.00 2.40 0.00 0.000 6 0.000 0.084 2588 2200 3435

5702 -0.94 -146.6 623.9 -9.6 255 5706 0.00 2.50 0.00 0.000 4 0.000 0.107 2588 798 3434

5734 -0.94 -146.6 627.2 -10.2 255 5738 0.00 2.38 0.00 0.000 6 0.000 0.087 2588 2199 3434

6066 -0.94 -146.6 656.7 -8.8 261 6070 0.00 2.53 0.00 0.000 4 0.000 0.112 2588 797 3433

6098 -0.94 -146.6 659.7 -9.3 261 6102 0.00 2.40 0.00 0.000 6 0.000 0.091 2588 2199 3433

6430 -0.94 -146.6 691.3 -9.7 267 6431 0.00 0.00 0.00 0.000 6 0.000 0.000 2587 2199 3433

6734 -0.94 -146.6 720.9 -9.8 272 6739 0.00 2.47 0.00 0.000 4 0.000 0.104 2588 797 3433

6784 -0.99 -146.6 726.0 -9.7 272 6789 0.00 2.38 0.00 0.000 6 0.000 0.083 2588 2209 3433

7094 -0.99 -146.6 755.9 -9.7 277 7095 0.00 0.00 0.00 0.000 6 0.000 0.000 2587 2209 3432

7396 -0.99 -146.6 782.9 -8.8 282 7401 0.00 2.53 0.00 0.000 4 0.000 0.105 2588 790 3432

7429 -1.04 -146.6 785.8 -8.8 282 7434 0.00 2.40 0.00 0.000 6 0.000 0.083 2588 2203 3432

7755 -1.04 -146.6 810.4 -7.5 288 7759 0.00 2.50 0.00 0.000 4 0.000 0.107 2587 798 3431

7794 -1.10 -146.6 813.5 -8.2 288 7799 0.15 2.40 0.00 0.000 6 0.068 0.084 2559 2208 3431

8114 -1.01 -146.6 844.3 -9.7 294 8116 0.12 0.00 0.00 0.000 6 0.114 0.000 2578 2208 3431

8418 -1.01 -146.6 871.3 -8.8 299 8423 0.00 2.53 0.00 0.000 4 0.000 0.107 2578 793 3430

8468 -1.01 -146.6 875.9 -8.3 299 8472 0.00 2.40 0.00 0.000 6 0.000 0.085 2578 2200 3430

8784 -1.01 -146.6 900.8 -7.9 305 8785 0.00 0.00 0.00 0.000 6 0.000 0.000 2578 2201 3430

9090 -1.01 -146.6 925.5 -8.3 310 9094 0.00 2.53 0.00 0.000 4 0.000 0.109 2578 794 3430

9156 -1.01 -146.6 931.7 -8.7 311 9160 0.00 2.40 0.00 0.000 6 0.000 0.087 2578 2205 3429

9521 -1.01 -146.6 962.1 -8.3 317 9522 0.00 0.00 0.00 0.000 6 0.000 0.000 2578 2205 3429

9826 -1.01 -146.6 989.3 -9.1 322 9830 0.00 2.55 0.00 0.000 4 0.000 0.112 2578 794 3429

9833 end dive: TARGET_DEPTH_EXCEEDED

state 9833 begin apogee

9841 -0.23 0.0 990.4 9.1 322 9972 0.98 0.00 127.40 1.461 6 0.090 0.000 2741 2395 2837

9973 end apogee: CONTROL_FINISHED_OK

state 9973 begin climb

9975 1.00 146.6 994.0 0.0 324 10119 1.62 2.95 134.12 1.414 4 0.054 0.147 3015 3765 2239

10236 0.70 146.6 969.3 15.4 328 10242 0.40 2.50 0.00 0.000 6 0.107 0.095 2957 2407 2239

10591 0.66 146.6 931.9 10.3 334 10592 0.00 0.00 0.00 0.000 6 0.000 0.000 2957 2407 2238

10894 0.61 146.6 899.9 10.6 339 10899 0.15 2.55 0.00 0.000 4 0.112 0.110 2932 991 2237

10971 0.61 146.6 892.0 10.7 340 10975 0.00 2.45 0.00 0.000 6 0.000 0.090 2932 2404 2237

11326 0.68 158.3 858.2 9.5 346 11342 0.00 2.58 11.20 1.269 4 0.000 0.109 2932 982 2191

11425 0.68 161.7 848.1 9.8 347 11435 0.00 2.45 4.75 0.974 6 0.000 0.090 2932 2399 2177

11757 0.77 173.8 816.5 9.4 353 11777 0.15 2.60 11.85 1.267 4 0.070 0.110 2964 990 2128

11838 0.70 173.8 807.2 12.0 354 11842 0.00 2.45 0.00 0.000 6 0.000 0.090 2964 2402 2128

12192 0.70 173.8 765.9 11.7 360 12196 0.00 2.55 0.00 0.000 4 0.000 0.108 2964 984 2128

12246 0.64 173.8 759.0 13.2 360 12253 0.15 2.45 0.00 0.000 6 0.110 0.091 2943 2402 2128

12556 0.69 173.8 725.8 10.7 366 12560 0.00 2.53 0.00 0.000 4 0.000 0.107 2943 990 2127

12617 0.69 173.8 719.2 10.1 367 12621 0.00 2.45 0.00 0.000 6 0.000 0.091 2943 2406 2127

12982 0.74 173.8 680.3 10.7 373 12986 0.00 2.53 0.00 0.000 4 0.000 0.106 2943 989 2127

13043 0.74 173.8 673.6 11.2 374 13047 0.00 2.42 0.00 0.000 6 0.000 0.090 2943 2400 2127

13408 0.80 173.8 635.7 10.3 380 13413 0.15 2.50 0.00 0.000 4 0.071 0.104 2975 989 2127

13508 0.72 173.8 623.6 13.2 381 13512 0.00 2.42 0.00 0.000 6 0.000 0.090 2975 2406 2127

13834 0.66 173.8 587.1 11.1 387 13839 0.17 2.42 0.00 0.000 4 0.108 0.113 2945 3764 2127

13871 0.66 173.8 583.1 10.4 387 13876 0.00 2.35 0.00 0.000 6 0.000 0.087 2946 2392 2127

14198 0.74 206.9 555.5 8.5 393 14232 0.00 2.53 28.10 1.200 4 0.000 0.105 2945 999 1993

14346 0.79 206.9 541.5 10.2 395 14351 0.15 2.42 0.00 0.000 6 0.067 0.087 2974 2400 1993

14694 0.79 206.9 501.8 11.6 401 14698 0.00 2.50 0.00 0.000 4 0.000 0.103 2974 995 1993

14759 0.79 206.9 493.8 11.9 402 14764 0.00 2.42 0.00 0.000 6 0.000 0.087 2974 2391 1993

15125 0.79 206.9 451.4 11.5 408 15129 0.00 2.47 0.00 0.000 4 0.000 0.101 2974 991 1993

15190 0.79 206.9 443.6 11.8 409 15195 0.00 2.40 0.00 0.000 6 0.000 0.087 2973 2400 1992

15556 0.79 206.9 402.4 11.2 415 15560 0.00 2.47 0.00 0.000 4 0.000 0.099 2974 992 1993

15644 0.79 206.9 392.4 10.7 416 15648 0.00 2.42 0.00 0.000 6 0.000 0.086 2974 2400 1992

15987 0.79 206.9 353.4 11.3 422 15988 0.00 0.00 0.00 0.000 6 0.000 0.000 2974 2400 1993

16290 0.79 206.9 318.7 11.5 427 16294 0.00 2.45 0.00 0.000 4 0.000 0.097 2974 993 1993

16384 0.79 206.9 307.3 11.5 428 16388 0.00 2.38 0.00 0.000 6 0.000 0.084 2974 2402 1993

16706 0.79 206.9 268.8 12.1 441 16710 0.00 2.42 0.00 0.000 4 0.000 0.095 2974 993 1993

16773 0.79 206.9 260.1 12.1 444 16777 0.00 2.38 0.00 0.000 6 0.000 0.083 2974 2402 1993

17105 0.79 206.9 220.6 11.3 460 17109 0.00 2.45 0.00 0.000 4 0.000 0.094 2974 985 1994

17182 0.79 206.9 211.7 10.6 463 17189 0.00 2.40 0.00 0.000 6 0.000 0.081 2974 2400 1993

17498 0.79 206.9 177.0 11.0 479 17502 0.00 2.42 0.00 0.000 4 0.000 0.091 2974 992 1994

17592 0.79 206.9 166.0 11.2 483 17596 0.00 2.35 0.00 0.000 6 0.000 0.079 2974 2401 1994

17919 0.82 228.5 132.5 9.0 507 17944 0.00 2.45 18.23 0.910 4 0.000 0.091 2974 992 1905

17977 0.83 236.8 126.7 9.6 512 17995 0.00 2.38 8.55 0.829 6 0.000 0.078 2974 2395 1871

18313 0.90 236.8 91.5 10.8 544 18317 0.00 2.42 0.00 0.000 4 0.000 0.089 2974 986 1871

18380 0.94 236.8 83.9 10.2 550 18385 0.17 2.38 0.00 0.000 6 0.062 0.077 3008 2400 1871

18721 0.96 251.9 48.0 9.3 607 18745 0.00 2.42 13.55 0.839 4 0.000 0.100 3008 3764 1809

18817 0.96 251.9 37.5 11.9 622 18823 0.00 2.33 0.00 0.000 6 0.000 0.075 3008 2401 1809

19145 1.16 346.6 12.9 5.7 653 19224 0.20 2.45 72.80 0.805 4 0.063 0.084 3050 992 1423

19247 1.16 346.6 3.4 11.6 662 19252 0.00 2.42 0.00 0.000 6 0.000 0.073 3050 2400 1423

19262 end climb: SURFACE_DEPTH_REACHED

state 19262 begin surface coast

19274 end surface coast: CONTROL_FINISHED_OK

state 19274 begin surface

ID	119	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	5	HEADING	-1	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	10	ESCAPE_HEADING	90	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	200	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3772	ALTIM_PING_DEPTH	125
D_TGT	990	TGT_DEFAULT_LAT	48.130001	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LON	-122.366	C_ROLL_DIVE	2200	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2400	ALTIM_PULSE	3
D_FINISH	0	SM_CC	400	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	26	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	16	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	330	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	360	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	403	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3857	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2837	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-209917.72	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	27	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	50	XPDR_DEVICE	24
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	1	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	863	AH0_24V	147	SEABIRD_T_G	0.0044304794
SPEED_FACTOR	1	PITCH_MAX	3325	AH0_10V	122.2	SEABIRD_T_H	0.00064686994
RHO	1.023	C_PITCH	2800	PRESSURE_YINT	-2.9385166	SEABIRD_T_I	2.8000688e-05
MASS	51528	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001159777	SEABIRD_T_J	3.1833417e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.8991232
FERRY_MAX	30	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.099651
KALMAN_USE	1	PITCH_GAIN	22	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012204468
HD_A	0.0038945	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_J	0.00018128238
HD_B	0.0099684997	PITCH_AD_RATE	125	ALTIM_BOTTOM_PING_RANGE	0

GPS1	171459,4701.803,-12511.111,42,2.8,61,18.4	TGT_NAME	W_47N_128W
_CALLS	1	TGT_LATLONG	4700.000,-12800.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.245,-0.098
_SM_DEPTHo	0.97	KALMAN_X	5770.9,-325.8,-33.9,-21933.0,1564.1
_SM_ANGLEo	-69.0	KALMAN_Y	7681.7,217.5,142.5,-1987.8,1888.6
GPS2	171938,4701.808,-12511.096,9,1.2,14,18.4	MHEAD_RNG_PITCHd_Wd	229.8,213362,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.1,1.023780	XPDR_PINGS	27
SM_CCo	19295,24.42,0.763,0,0,1206,400.08	_24V_AH	22.5,35.738
SM_GC	0.88,0.00,0.00,24.42,0.000,0.000,0.763,864,2191,1206,-8.91,-0.25,400.08	_10V_AH	10.6,22.810
IRIDIUM_FIX	4641.78,-12506.24,111297,111120	DATA_FILE_SIZE	34845,664
TT8_MAMPS	0.027612	CAP_FILE_SIZE	150609,0
HUMID	2149	CFSIZE	260165632,258588672
INTERNAL_PRESSURE	8.69174	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,25,0,0
TCM_TEMP	17.10	GPS	160908,224338,4702.474,-12514.542,31,1.5,31,18.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	150	100.46	SBE_CT	451	24	243.77
Roll_motor	200	147	665.75	SBE_O2	535	19	228.88
VBD_pump_during_apogee	430	1461	14154.56	WL_BB2F	735	105	1737.46
VBD_pump_during_surface	24	763	419.41	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	68.95	nil	0	0	0.00
Iridium_during_connect	24	160	89.96	nil	0	0	0.00
Iridium_during_xfer	124	223	627.14
Transponder_ping	16	420	151.20
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.45
TT8	1453	19	304.97
LPSleep	15097	2	350.46
TT8_Active	581	19	122.14
TT8_Sampling	2079	39	877.29
TT8_CF8	387	45	188.33
TT8_Kalman	33	81	28.92
Analog_circuits	1658	12	210.93
GPS_charging	0	0	0.00
Compass	2016	8	170.99
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
22	-1.00	-146.6	0.0	0.0	0	94	0.00	0.00	-70.70	0.000	2	0.000	0.000	861	2184	2889
97	-1.00	-146.6	3.9	-5.5	7	130	11.90	2.50	-10.55	0.000	4	0.150	0.094	2574	3608	3437
244	-0.77	-146.6	41.4	-17.5	20	251	0.32	2.30	0.00	0.000	6	0.095	0.063	2626	2201	3437
592	-0.77	-146.6	83.9	-10.4	79	596	0.00	2.40	0.00	0.000	4	0.000	0.089	2626	793	3438
632	-0.84	-146.6	88.0	-10.0	82	636	0.00	2.35	0.00	0.000	6	0.000	0.069	2626	2210	3438
958	-0.91	-146.6	119.7	-9.6	112	963	0.12	2.42	0.00	0.000	4	0.067	0.087	2599	795	3438
979	-0.91	-146.6	122.0	-9.9	113	986	0.00	2.35	0.00	0.000	6	0.000	0.071	2599	2196	3438
1314	-0.91	-146.6	159.3	-10.9	141	1315	0.00	0.00	0.00	0.000	6	0.000	0.000	2599	2196	3438
1622	-0.91	-146.6	193.0	-11.0	156	1623	0.00	0.00	0.00	0.000	6	0.000	0.000	2599	2196	3438
1931	-0.91	-146.6	228.8	-11.8	171	1932	0.00	0.00	0.00	0.000	6	0.000	0.000	2599	2196	3439
2240	-0.91	-146.6	262.3	-10.6	186	2244	0.00	2.40	0.00	0.000	4	0.000	0.092	2599	795	3438
2326	-0.91	-146.6	271.3	-10.3	190	2330	0.00	2.33	0.00	0.000	6	0.000	0.074	2599	2199	3438
2671	-0.91	-146.6	306.9	-9.9	205	2675	0.00	2.42	0.00	0.000	4	0.000	0.091	2599	784	3438
2716	-0.96	-146.6	311.4	-9.6	205	2720	0.00	2.35	0.00	0.000	6	0.000	0.074	2599	2203	3438
3030	-0.96	-146.6	341.4	-9.5	211	3034	0.00	2.42	0.00	0.000	4	0.000	0.093	2599	795	3438
3074	-1.02	-146.6	345.7	-9.6	211	3078	0.00	2.33	0.00	0.000	6	0.000	0.075	2599	2201	3438
3389	-1.02	-146.6	376.5	-10.0	217	3393	0.00	2.42	0.00	0.000	4	0.000	0.094	2599	794	3437
3451	-1.08	-146.6	382.8	-10.1	218	3456	0.20	2.35	0.00	0.000	6	0.061	0.077	2561	2207	3437
3817	-0.96	-146.6	428.4	-12.7	224	3822	0.15	2.45	0.00	0.000	4	0.105	0.094	2588	795	3437
3838	-0.90	-146.6	431.1	-11.7	224	3842	0.00	2.35	0.00	0.000	6	0.000	0.077	2588	2207	3436
4180	-0.90	-146.6	467.1	-10.5	230	4185	0.00	2.45	0.00	0.000	4	0.000	0.097	2588	796	3436
4207	-0.90	-146.6	470.3	-12.0	230	4211	0.00	2.38	0.00	0.000	6	0.000	0.077	2588	2199	3436
4545	-0.90	-146.6	507.7	-11.0	236	4549	0.00	2.45	0.00	0.000	4	0.000	0.099	2588	795	3436
4600	-0.90	-146.6	513.6	-9.9	236	4606	0.00	2.38	0.00	0.000	6	0.000	0.080	2588	2207	3435
4909	-0.90	-146.6	545.5	-10.4	242	4913	0.00	2.47	0.00	0.000	4	0.000	0.101	2588	797	3435
4929	-0.90	-146.6	547.9	-11.3	242	4933	0.00	2.40	0.00	0.000	6	0.000	0.081	2588	2219	3435
5274	-0.90	-146.6	582.5	-9.8	248	5278	0.00	2.53	0.00	0.000	4	0.000	0.103	2587	790	3435
5337	-0.94	-146.6	588.6	-9.0	249	5341	0.00	2.40	0.00	0.000	6	0.000	0.084	2588	2200	3435
5702	-0.94	-146.6	623.9	-9.6	255	5706	0.00	2.50	0.00	0.000	4	0.000	0.107	2588	798	3434
5734	-0.94	-146.6	627.2	-10.2	255	5738	0.00	2.38	0.00	0.000	6	0.000	0.087	2588	2199	3434
6066	-0.94	-146.6	656.7	-8.8	261	6070	0.00	2.53	0.00	0.000	4	0.000	0.112	2588	797	3433
6098	-0.94	-146.6	659.7	-9.3	261	6102	0.00	2.40	0.00	0.000	6	0.000	0.091	2588	2199	3433
6430	-0.94	-146.6	691.3	-9.7	267	6431	0.00	0.00	0.00	0.000	6	0.000	0.000	2587	2199	3433
6734	-0.94	-146.6	720.9	-9.8	272	6739	0.00	2.47	0.00	0.000	4	0.000	0.104	2588	797	3433
6784	-0.99	-146.6	726.0	-9.7	272	6789	0.00	2.38	0.00	0.000	6	0.000	0.083	2588	2209	3433
7094	-0.99	-146.6	755.9	-9.7	277	7095	0.00	0.00	0.00	0.000	6	0.000	0.000	2587	2209	3432
7396	-0.99	-146.6	782.9	-8.8	282	7401	0.00	2.53	0.00	0.000	4	0.000	0.105	2588	790	3432
7429	-1.04	-146.6	785.8	-8.8	282	7434	0.00	2.40	0.00	0.000	6	0.000	0.083	2588	2203	3432
7755	-1.04	-146.6	810.4	-7.5	288	7759	0.00	2.50	0.00	0.000	4	0.000	0.107	2587	798	3431
7794	-1.10	-146.6	813.5	-8.2	288	7799	0.15	2.40	0.00	0.000	6	0.068	0.084	2559	2208	3431
8114	-1.01	-146.6	844.3	-9.7	294	8116	0.12	0.00	0.00	0.000	6	0.114	0.000	2578	2208	3431
8418	-1.01	-146.6	871.3	-8.8	299	8423	0.00	2.53	0.00	0.000	4	0.000	0.107	2578	793	3430
8468	-1.01	-146.6	875.9	-8.3	299	8472	0.00	2.40	0.00	0.000	6	0.000	0.085	2578	2200	3430
8784	-1.01	-146.6	900.8	-7.9	305	8785	0.00	0.00	0.00	0.000	6	0.000	0.000	2578	2201	3430
9090	-1.01	-146.6	925.5	-8.3	310	9094	0.00	2.53	0.00	0.000	4	0.000	0.109	2578	794	3430
9156	-1.01	-146.6	931.7	-8.7	311	9160	0.00	2.40	0.00	0.000	6	0.000	0.087	2578	2205	3429
9521	-1.01	-146.6	962.1	-8.3	317	9522	0.00	0.00	0.00	0.000	6	0.000	0.000	2578	2205	3429
9826	-1.01	-146.6	989.3	-9.1	322	9830	0.00	2.55	0.00	0.000	4	0.000	0.112	2578	794	3429
9833	end dive: TARGET_DEPTH_EXCEEDED
state	9833	begin apogee
9841	-0.23	0.0	990.4	9.1	322	9972	0.98	0.00	127.40	1.461	6	0.090	0.000	2741	2395	2837
9973	end apogee: CONTROL_FINISHED_OK
state	9973	begin climb
9975	1.00	146.6	994.0	0.0	324	10119	1.62	2.95	134.12	1.414	4	0.054	0.147	3015	3765	2239
10236	0.70	146.6	969.3	15.4	328	10242	0.40	2.50	0.00	0.000	6	0.107	0.095	2957	2407	2239
10591	0.66	146.6	931.9	10.3	334	10592	0.00	0.00	0.00	0.000	6	0.000	0.000	2957	2407	2238
10894	0.61	146.6	899.9	10.6	339	10899	0.15	2.55	0.00	0.000	4	0.112	0.110	2932	991	2237
10971	0.61	146.6	892.0	10.7	340	10975	0.00	2.45	0.00	0.000	6	0.000	0.090	2932	2404	2237
11326	0.68	158.3	858.2	9.5	346	11342	0.00	2.58	11.20	1.269	4	0.000	0.109	2932	982	2191
11425	0.68	161.7	848.1	9.8	347	11435	0.00	2.45	4.75	0.974	6	0.000	0.090	2932	2399	2177
11757	0.77	173.8	816.5	9.4	353	11777	0.15	2.60	11.85	1.267	4	0.070	0.110	2964	990	2128
11838	0.70	173.8	807.2	12.0	354	11842	0.00	2.45	0.00	0.000	6	0.000	0.090	2964	2402	2128
12192	0.70	173.8	765.9	11.7	360	12196	0.00	2.55	0.00	0.000	4	0.000	0.108	2964	984	2128
12246	0.64	173.8	759.0	13.2	360	12253	0.15	2.45	0.00	0.000	6	0.110	0.091	2943	2402	2128
12556	0.69	173.8	725.8	10.7	366	12560	0.00	2.53	0.00	0.000	4	0.000	0.107	2943	990	2127
12617	0.69	173.8	719.2	10.1	367	12621	0.00	2.45	0.00	0.000	6	0.000	0.091	2943	2406	2127
12982	0.74	173.8	680.3	10.7	373	12986	0.00	2.53	0.00	0.000	4	0.000	0.106	2943	989	2127
13043	0.74	173.8	673.6	11.2	374	13047	0.00	2.42	0.00	0.000	6	0.000	0.090	2943	2400	2127
13408	0.80	173.8	635.7	10.3	380	13413	0.15	2.50	0.00	0.000	4	0.071	0.104	2975	989	2127
13508	0.72	173.8	623.6	13.2	381	13512	0.00	2.42	0.00	0.000	6	0.000	0.090	2975	2406	2127
13834	0.66	173.8	587.1	11.1	387	13839	0.17	2.42	0.00	0.000	4	0.108	0.113	2945	3764	2127
13871	0.66	173.8	583.1	10.4	387	13876	0.00	2.35	0.00	0.000	6	0.000	0.087	2946	2392	2127
14198	0.74	206.9	555.5	8.5	393	14232	0.00	2.53	28.10	1.200	4	0.000	0.105	2945	999	1993
14346	0.79	206.9	541.5	10.2	395	14351	0.15	2.42	0.00	0.000	6	0.067	0.087	2974	2400	1993
14694	0.79	206.9	501.8	11.6	401	14698	0.00	2.50	0.00	0.000	4	0.000	0.103	2974	995	1993
14759	0.79	206.9	493.8	11.9	402	14764	0.00	2.42	0.00	0.000	6	0.000	0.087	2974	2391	1993
15125	0.79	206.9	451.4	11.5	408	15129	0.00	2.47	0.00	0.000	4	0.000	0.101	2974	991	1993
15190	0.79	206.9	443.6	11.8	409	15195	0.00	2.40	0.00	0.000	6	0.000	0.087	2973	2400	1992
15556	0.79	206.9	402.4	11.2	415	15560	0.00	2.47	0.00	0.000	4	0.000	0.099	2974	992	1993
15644	0.79	206.9	392.4	10.7	416	15648	0.00	2.42	0.00	0.000	6	0.000	0.086	2974	2400	1992
15987	0.79	206.9	353.4	11.3	422	15988	0.00	0.00	0.00	0.000	6	0.000	0.000	2974	2400	1993
16290	0.79	206.9	318.7	11.5	427	16294	0.00	2.45	0.00	0.000	4	0.000	0.097	2974	993	1993
16384	0.79	206.9	307.3	11.5	428	16388	0.00	2.38	0.00	0.000	6	0.000	0.084	2974	2402	1993
16706	0.79	206.9	268.8	12.1	441	16710	0.00	2.42	0.00	0.000	4	0.000	0.095	2974	993	1993
16773	0.79	206.9	260.1	12.1	444	16777	0.00	2.38	0.00	0.000	6	0.000	0.083	2974	2402	1993
17105	0.79	206.9	220.6	11.3	460	17109	0.00	2.45	0.00	0.000	4	0.000	0.094	2974	985	1994
17182	0.79	206.9	211.7	10.6	463	17189	0.00	2.40	0.00	0.000	6	0.000	0.081	2974	2400	1993
17498	0.79	206.9	177.0	11.0	479	17502	0.00	2.42	0.00	0.000	4	0.000	0.091	2974	992	1994
17592	0.79	206.9	166.0	11.2	483	17596	0.00	2.35	0.00	0.000	6	0.000	0.079	2974	2401	1994
17919	0.82	228.5	132.5	9.0	507	17944	0.00	2.45	18.23	0.910	4	0.000	0.091	2974	992	1905
17977	0.83	236.8	126.7	9.6	512	17995	0.00	2.38	8.55	0.829	6	0.000	0.078	2974	2395	1871
18313	0.90	236.8	91.5	10.8	544	18317	0.00	2.42	0.00	0.000	4	0.000	0.089	2974	986	1871
18380	0.94	236.8	83.9	10.2	550	18385	0.17	2.38	0.00	0.000	6	0.062	0.077	3008	2400	1871
18721	0.96	251.9	48.0	9.3	607	18745	0.00	2.42	13.55	0.839	4	0.000	0.100	3008	3764	1809
18817	0.96	251.9	37.5	11.9	622	18823	0.00	2.33	0.00	0.000	6	0.000	0.075	3008	2401	1809
19145	1.16	346.6	12.9	5.7	653	19224	0.20	2.45	72.80	0.805	4	0.063	0.084	3050	992	1423
19247	1.16	346.6	3.4	11.6	662	19252	0.00	2.42	0.00	0.000	6	0.000	0.073	3050	2400	1423
19262	end climb: SURFACE_DEPTH_REACHED
state	19262	begin surface coast
19274	end surface coast: CONTROL_FINISHED_OK
state	19274	begin surface